Glider dive log

SOSCEx 12Dec12 * SG542 * Dive index * Mission links * Dive 28 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 542 HEADING -1 ROLL_MAX 3901 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 9 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

DIVE 28 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2770 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2670 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -56 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON 0.1 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 500 SM_CC 230 R_PORT_OVSHOOT 35 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 38 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2500 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 350 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 365 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -21765.879 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 73 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1802 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -53.02364 SEABIRD_T_H 0.00061853422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011816985 SEABIRD_T_I 2.1182957e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0754619e-06

MASS 53031 PITCH_GAIN 43 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7625904

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1369455

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0017508121

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021125977

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 9.9999997e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 230

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 43 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3888 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -56

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON 0.1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 350

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -53.02364 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -21765.879

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 365

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 542 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 2.49 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1802 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2670 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2770 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2500 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 35 VBD_MAX 3961

DEVICE2 101 MASS 53031 R_STBD_OVSHOOT 38 VBD_MAXERRORS 1

DEVICE3 35 MAX_BUOY 150 SEABIRD_C_G -9.7625904 VBD_MIN 480

DEVICE4 134 MINV_10V 8 SEABIRD_C_H 1.1369455 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0017508121 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 9 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 28 MOTHERBOARD 4 SEABIRD_T_G 0.0042910837 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00061853422 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 SEABIRD_T_I 2.1182957e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.0754619e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 151214,081313,-5553.321,-25.659,42,1.8,42,-19.9 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -5600.000,-30.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.214,-0.139

_SM_DEPTHo 1.80 KALMAN_X 19965.6,-300.4,-54.4,-46217.8,3813.1

_SM_ANGLEo -66.8 KALMAN_Y -14836.8,478.3,305.2,26872.4,979.8

GPS2 151214,082105,-5553.238,-25.767,31,1.0,31,-19.9 MHEAD_RNG_PITCHd_Wd 256.9,13268,-16.7,-9.524

SPEED_LIMITS 0.165,0.255 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.8,1.013592 _10V_AH 10.1,8.302

SM_CCo 12910,31.85,0.176,0,0,1558,230.09 FG_AHR_24Vo 0.000

SM_GC 1.51,0.00,0.00,31.85,0.000,0.000,0.176,63,2787,1558,-5.43,0.48,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5531.31,-19.18,151214,040417 MEM 353996

TT8_MAMPS 0.026215 DATA_FILE_SIZE 57073,837

HUMID 54.52 CAP_FILE_SIZE 132331,0

INTERNAL_PRESSURE 8.94533 CFSIZE 259252224,224755712

TCM_TEMP 7.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 GPS 151214,115858,-5552.799,-28.546,40,0.7,40,-19.9

_24V_AH 21.6,12.960

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 255 77.82 SBE_CT 594 23 307.98

Roll_motor 133 91 263.72 AA4330 1749 17 679.26

VBD_pump_during_apogee 278 1796 10807.28 WL_BB2F 844 105 1916.05

VBD_pump_during_surface 31 175 121.05 QSP2150 867 17 337.03

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 91 52.69 nil 0 0 0.00

Iridium_during_connect 42 160 145.36 nil 0 0 0.00

Iridium_during_xfer 276 223 1333.30 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 31 10.75

TT8 2178 14 318.13

LPSleep 7865 2 173.99

TT8_Active 446 14 65.22

TT8_Sampling 2775 42 1182.21

TT8_CF8 149 49 74.88

TT8_Kalman 33 68 23.04

Analog_circuits 1433 15 224.42

GPS_charging 0 0 0.00

Compass 2252 16 374.91

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.57 -146.1 0.0 0.0 0 75 0.00 0.00 -57.40 0.000 2 0.000 0.000 57 2797 2829 0 0 0 0 0 0

77 -0.57 -146.1 3.2 -3.3 7 96 6.40 1.88 -7.15 0.000 4 0.256 0.084 1601 3891 3098 0 0 0 0 0 0

208 -0.57 -146.1 31.2 -18.6 27 215 0.00 1.83 0.00 0.000 6 0.000 0.041 1601 2776 3100 0 0 0 0 0 0

319 -0.57 -146.1 52.3 -19.3 46 328 0.00 2.28 0.00 0.000 4 0.000 0.051 1601 1364 3100 0 0 0 0 0 0

365 -0.57 -146.1 59.9 -16.3 53 372 0.00 2.30 0.00 0.000 6 0.000 0.062 1591 2770 3101 0 0 0 0 0 0

478 -0.57 -146.1 78.8 -18.0 72 487 0.00 1.90 0.00 0.000 4 0.000 0.070 1583 3886 3101 0 0 0 0 0 0

577 -0.57 -146.1 97.2 -18.3 89 585 0.12 1.80 0.00 0.000 6 0.206 0.041 1612 2760 3101 0 0 0 0 0 0

801 -0.57 -146.1 131.7 -14.4 111 805 0.00 1.92 0.00 0.000 4 0.000 0.068 1604 3896 3101 0 0 0 0 0 0

885 -0.57 -146.1 145.2 -15.3 118 895 0.00 1.83 0.00 0.000 6 0.000 0.041 1603 2765 3100 0 0 0 0 0 0

1213 -0.57 -146.1 191.6 -14.2 149 1216 0.00 1.88 0.00 0.000 4 0.000 0.068 1595 3893 3100 0 0 0 0 0 0

1343 -0.57 -146.1 212.2 -14.7 160 1354 0.00 1.80 0.00 0.000 6 0.000 0.040 1595 2776 3101 0 0 0 0 0 0

1679 -0.57 -146.1 259.0 -13.4 189 1683 0.00 1.85 0.00 0.000 4 0.000 0.068 1586 3893 3101 0 0 0 0 0 0

1772 -0.57 -146.1 272.4 -15.0 193 1776 0.12 1.77 0.00 0.000 6 0.198 0.040 1617 2769 3100 0 0 0 0 0 0

2105 -0.57 -146.1 309.6 -11.0 209 2109 0.00 1.88 0.00 0.000 4 0.000 0.068 1608 3901 3101 0 0 0 0 0 0

2205 -0.57 -146.1 321.7 -11.5 213 2210 0.00 1.83 0.00 0.000 6 0.000 0.040 1608 2763 3101 0 0 0 0 0 0

2529 -0.57 -146.1 358.7 -11.5 229 2532 0.00 1.88 0.00 0.000 4 0.000 0.067 1599 3900 3100 0 0 0 0 0 0

2628 -0.57 -146.1 371.8 -12.3 233 2633 0.00 1.80 0.00 0.000 6 0.000 0.038 1599 2773 3100 0 0 0 0 0 0

2951 -0.57 -146.1 411.2 -12.6 249 2955 0.00 1.85 0.00 0.000 4 0.000 0.067 1591 3897 3101 0 0 0 0 0 0

3067 -0.57 -146.1 428.0 -13.8 254 3072 0.00 1.80 0.00 0.000 6 0.000 0.038 1591 2770 3100 0 0 0 0 0 0

3395 -0.57 -146.1 472.0 -13.3 270 3399 0.00 1.85 0.00 0.000 4 0.000 0.067 1582 3896 3101 0 0 0 0 0 0

3501 -0.57 -146.1 487.4 -14.9 274 3508 0.12 1.80 0.00 0.000 6 0.193 0.040 1613 2769 3101 0 0 0 0 0 0

3816 -0.57 -146.1 523.3 -11.5 290 3820 0.00 1.85 0.00 0.000 4 0.000 0.067 1605 3896 3101 0 0 0 0 0 0

3892 -0.57 -146.1 533.2 -12.7 293 3897 0.00 1.83 0.00 0.000 6 0.000 0.038 1605 2749 3101 0 0 0 0 0 0

4214 -0.57 -146.1 573.2 -12.6 309 4218 0.00 1.88 0.00 0.000 4 0.000 0.067 1596 3895 3101 0 0 0 0 0 0

4336 -0.57 -146.1 590.3 -13.8 314 4341 0.00 1.80 0.00 0.000 6 0.000 0.038 1596 2765 3101 0 0 0 0 0 0

4658 -0.57 -146.1 634.8 -13.9 330 4662 0.00 1.85 0.00 0.000 4 0.000 0.066 1588 3894 3101 0 0 0 0 0 0

4752 -0.57 -146.1 649.6 -15.2 334 4756 0.00 1.77 0.00 0.000 6 0.000 0.038 1587 2773 3101 0 0 0 0 0 0

5079 -0.57 -146.1 698.9 -15.0 350 5083 0.10 1.85 0.00 0.000 4 0.208 0.067 1603 3903 3101 0 0 0 0 0 0

5172 -0.57 -146.1 712.6 -13.2 354 5177 0.00 1.80 0.00 0.000 6 0.000 0.038 1603 2771 3101 0 0 0 0 0 0

5500 -0.57 -146.1 757.1 -13.5 370 5504 0.00 1.90 0.00 0.000 4 0.000 0.068 1594 3900 3101 0 0 0 0 0 0

5599 -0.57 -146.1 771.7 -14.5 374 5604 0.00 1.80 0.00 0.000 6 0.000 0.038 1595 2763 3101 0 0 0 0 0 0

5921 -0.57 -146.1 816.4 -14.0 390 5925 0.00 1.85 0.00 0.000 4 0.000 0.067 1586 3894 3101 0 0 0 0 0 0

6004 -0.57 -146.1 829.6 -16.5 393 6013 0.08 1.77 0.00 0.000 6 0.178 0.038 1609 2770 3101 0 0 0 0 0 0

6320 -0.57 -146.1 870.1 -12.7 409 6324 0.00 1.88 0.00 0.000 4 0.000 0.067 1601 3897 3101 0 0 0 0 0 0

6397 -0.57 -146.1 880.7 -13.6 412 6401 0.00 1.80 0.00 0.000 6 0.000 0.038 1601 2767 3101 0 0 0 0 0 0

6718 -0.57 -146.1 923.4 -13.3 428 6722 0.00 1.85 0.00 0.000 4 0.000 0.067 1593 3897 3101 0 0 0 0 0 0

6818 -0.57 -146.1 937.5 -13.8 432 6822 0.00 1.80 0.00 0.000 6 0.000 0.039 1593 2764 3101 0 0 0 0 0 0

7139 -0.57 -146.1 981.8 -13.8 448 7143 0.00 1.83 0.00 0.000 4 0.000 0.067 1584 3895 3101 0 0 0 0 0 0

7216 -0.57 -146.1 993.6 -14.9 451 7221 0.08 1.77 0.00 0.000 6 0.174 0.038 1608 2769 3101 0 0 0 0 0 0

7268 end dive: TARGET_DEPTH_EXCEEDED

state 7269 begin apogee

7273 -0.16 0.0 1000.6 13.5 454 7412 0.45 0.00 134.20 1.796 6 0.159 0.000 1746 2640 2499 0 0 0 0 0 0

7413 end apogee: CONTROL_FINISHED_OK

state 7413 begin climb

7414 0.57 146.1 1006.2 0.0 461 7566 0.75 2.55 144.35 1.750 4 0.115 0.050 1986 1279 1903 0 0 0 0 0 0

7626 0.57 146.1 984.0 14.1 471 7632 0.00 2.53 0.00 0.000 6 0.000 0.055 1985 2659 1899 0 0 0 0 0 0

7954 0.57 146.1 927.8 17.6 487 7958 0.00 2.12 0.00 0.000 4 0.000 0.063 1985 3903 1894 0 0 0 0 0 0

8030 0.57 146.1 912.4 20.0 490 8035 0.00 2.05 0.00 0.000 6 0.000 0.041 1994 2695 1892 0 0 0 0 0 0

8352 0.57 146.1 852.3 19.0 506 8356 0.00 2.08 0.00 0.000 4 0.000 0.063 1994 3909 1891 0 0 0 0 0 0

8407 0.57 146.1 840.3 22.5 508 8411 0.00 2.08 0.00 0.000 6 0.000 0.042 2004 2659 1890 0 0 0 0 0 0

8729 0.57 146.1 776.1 20.0 524 8733 0.00 2.10 0.00 0.000 4 0.000 0.063 2004 3914 1890 0 0 0 0 0 0

8797 0.57 146.1 761.1 23.6 527 8801 0.00 2.03 0.00 0.000 6 0.000 0.042 2013 2665 1889 0 0 0 0 0 0

9128 0.57 146.1 694.4 20.0 543 9132 0.00 2.08 0.00 0.000 4 0.000 0.064 2014 3904 1889 0 0 0 0 0 0

9211 0.57 146.1 675.8 23.5 546 9219 0.12 2.03 0.00 0.000 6 0.221 0.041 1991 2666 1888 0 0 0 0 0 0

9528 0.57 146.1 618.5 18.0 562 9531 0.00 2.08 0.00 0.000 4 0.000 0.063 1991 3913 1888 0 0 0 0 0 0

9598 0.57 146.1 603.7 20.6 565 9604 0.00 2.03 0.00 0.000 6 0.000 0.041 2000 2666 1887 0 0 0 0 0 0

9927 0.57 146.1 543.6 18.5 581 9930 0.00 2.05 0.00 0.000 4 0.000 0.063 2000 3907 1887 0 0 0 0 0 0

9958 0.57 146.1 536.5 21.8 582 9964 0.00 2.00 0.00 0.000 6 0.000 0.041 2009 2673 1887 0 0 0 0 0 0

10281 0.57 146.1 473.5 20.1 598 10285 0.00 2.05 0.00 0.000 4 0.000 0.063 2009 3899 1887 0 0 0 0 0 0

10363 0.57 146.1 454.7 23.3 601 10372 0.10 2.00 0.00 0.000 6 0.223 0.041 1993 2660 1887 0 0 0 0 0 0

10681 0.57 146.1 394.3 19.0 617 10685 0.00 2.05 0.00 0.000 4 0.000 0.063 1993 3906 1887 0 0 0 0 0 0

10728 0.57 146.1 384.2 22.7 619 10732 0.00 1.98 0.00 0.000 6 0.000 0.042 2002 2662 1887 0 0 0 0 0 0

11063 0.57 146.1 317.4 20.0 635 11066 0.00 2.05 0.00 0.000 4 0.000 0.063 2002 3909 1887 0 0 0 0 0 0

11130 0.57 146.1 302.0 21.7 638 11134 0.00 1.98 0.00 0.000 6 0.000 0.042 2011 2665 1887 0 0 0 0 0 0

11454 0.57 146.1 235.6 20.8 656 11457 0.00 2.05 0.00 0.000 4 0.000 0.063 2011 3913 1887 0 0 0 0 0 0

11500 0.57 146.1 225.2 22.6 660 11504 0.15 1.98 0.00 0.000 6 0.232 0.042 1987 2666 1887 0 0 0 0 0 0

11826 0.57 146.1 165.8 17.1 690 11830 0.00 2.05 0.00 0.000 4 0.000 0.064 1987 3916 1887 0 0 0 0 0 0

11864 0.57 146.1 157.8 19.6 693 11872 0.00 2.00 0.00 0.000 6 0.000 0.041 1996 2661 1887 0 0 0 0 0 0

12189 0.57 146.1 103.6 15.6 724 12193 0.00 2.05 0.00 0.000 4 0.000 0.064 1996 3914 1887 0 0 0 0 0 0

12307 0.57 146.1 82.0 17.7 742 12314 0.00 2.00 0.00 0.000 6 0.000 0.041 2006 2648 1887 0 0 0 0 0 0

12553 0.57 146.1 47.3 13.6 783 12559 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 2647 1887 0 0 0 0 0 0

12664 0.57 146.1 33.1 12.5 802 12673 0.00 2.08 0.00 0.000 4 0.000 0.063 2006 3904 1887 0 0 0 0 0 0

12741 0.57 146.1 22.2 14.9 814 12749 0.00 1.98 0.00 0.000 6 0.000 0.042 2016 2669 1887 0 0 0 0 0 0

12825 0.57 146.1 10.4 12.6 827 12834 0.00 2.05 0.00 0.000 4 0.000 0.066 2015 3900 1887 0 0 0 0 0 0

12860 0.57 146.1 5.6 12.7 832 12870 0.12 1.98 0.00 0.000 6 0.213 0.042 1991 2666 1887 0 0 0 0 0 0

12877 end climb: SURFACE_DEPTH_REACHED

state 12877 begin surface coast

12897 end surface coast: CONTROL_FINISHED_OK

state 12897 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	9	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
DIVE	28	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2770	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2670	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-56	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	0.1	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	500	SM_CC	230	R_PORT_OVSHOOT	35	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	38	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2500	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	350	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	365	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-21765.879	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	73	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1802	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-53.02364	SEABIRD_T_H	0.00061853422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011816985	SEABIRD_T_I	2.1182957e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0754619e-06
MASS	53031	PITCH_GAIN	43	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7625904
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1369455
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0017508121
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021125977
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	9.9999997e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	151214,081313,-5553.321,-25.659,42,1.8,42,-19.9	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-5600.000,-30.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.214,-0.139
_SM_DEPTHo	1.80	KALMAN_X	19965.6,-300.4,-54.4,-46217.8,3813.1
_SM_ANGLEo	-66.8	KALMAN_Y	-14836.8,478.3,305.2,26872.4,979.8
GPS2	151214,082105,-5553.238,-25.767,31,1.0,31,-19.9	MHEAD_RNG_PITCHd_Wd	256.9,13268,-16.7,-9.524
SPEED_LIMITS	0.165,0.255	D_GRID	1000

FINISH	0.8,1.013592	_10V_AH	10.1,8.302
SM_CCo	12910,31.85,0.176,0,0,1558,230.09	FG_AHR_24Vo	0.000
SM_GC	1.51,0.00,0.00,31.85,0.000,0.000,0.176,63,2787,1558,-5.43,0.48,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5531.31,-19.18,151214,040417	MEM	353996
TT8_MAMPS	0.026215	DATA_FILE_SIZE	57073,837
HUMID	54.52	CAP_FILE_SIZE	132331,0
INTERNAL_PRESSURE	8.94533	CFSIZE	259252224,224755712
TCM_TEMP	7.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	151214,115858,-5552.799,-28.546,40,0.7,40,-19.9
_24V_AH	21.6,12.960

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	255	77.82	SBE_CT	594	23	307.98
Roll_motor	133	91	263.72	AA4330	1749	17	679.26
VBD_pump_during_apogee	278	1796	10807.28	WL_BB2F	844	105	1916.05
VBD_pump_during_surface	31	175	121.05	QSP2150	867	17	337.03
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	91	52.69	nil	0	0	0.00
Iridium_during_connect	42	160	145.36	nil	0	0	0.00
Iridium_during_xfer	276	223	1333.30	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	31	10.75
TT8	2178	14	318.13
LPSleep	7865	2	173.99
TT8_Active	446	14	65.22
TT8_Sampling	2775	42	1182.21
TT8_CF8	149	49	74.88
TT8_Kalman	33	68	23.04
Analog_circuits	1433	15	224.42
GPS_charging	0	0	0.00
Compass	2252	16	374.91
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.57	-146.1	0.0	0.0	0	75	0.00	0.00	-57.40	0.000	2	0.000	0.000	57	2797	2829	0	0	0	0	0	0
77	-0.57	-146.1	3.2	-3.3	7	96	6.40	1.88	-7.15	0.000	4	0.256	0.084	1601	3891	3098	0	0	0	0	0	0
208	-0.57	-146.1	31.2	-18.6	27	215	0.00	1.83	0.00	0.000	6	0.000	0.041	1601	2776	3100	0	0	0	0	0	0
319	-0.57	-146.1	52.3	-19.3	46	328	0.00	2.28	0.00	0.000	4	0.000	0.051	1601	1364	3100	0	0	0	0	0	0
365	-0.57	-146.1	59.9	-16.3	53	372	0.00	2.30	0.00	0.000	6	0.000	0.062	1591	2770	3101	0	0	0	0	0	0
478	-0.57	-146.1	78.8	-18.0	72	487	0.00	1.90	0.00	0.000	4	0.000	0.070	1583	3886	3101	0	0	0	0	0	0
577	-0.57	-146.1	97.2	-18.3	89	585	0.12	1.80	0.00	0.000	6	0.206	0.041	1612	2760	3101	0	0	0	0	0	0
801	-0.57	-146.1	131.7	-14.4	111	805	0.00	1.92	0.00	0.000	4	0.000	0.068	1604	3896	3101	0	0	0	0	0	0
885	-0.57	-146.1	145.2	-15.3	118	895	0.00	1.83	0.00	0.000	6	0.000	0.041	1603	2765	3100	0	0	0	0	0	0
1213	-0.57	-146.1	191.6	-14.2	149	1216	0.00	1.88	0.00	0.000	4	0.000	0.068	1595	3893	3100	0	0	0	0	0	0
1343	-0.57	-146.1	212.2	-14.7	160	1354	0.00	1.80	0.00	0.000	6	0.000	0.040	1595	2776	3101	0	0	0	0	0	0
1679	-0.57	-146.1	259.0	-13.4	189	1683	0.00	1.85	0.00	0.000	4	0.000	0.068	1586	3893	3101	0	0	0	0	0	0
1772	-0.57	-146.1	272.4	-15.0	193	1776	0.12	1.77	0.00	0.000	6	0.198	0.040	1617	2769	3100	0	0	0	0	0	0
2105	-0.57	-146.1	309.6	-11.0	209	2109	0.00	1.88	0.00	0.000	4	0.000	0.068	1608	3901	3101	0	0	0	0	0	0
2205	-0.57	-146.1	321.7	-11.5	213	2210	0.00	1.83	0.00	0.000	6	0.000	0.040	1608	2763	3101	0	0	0	0	0	0
2529	-0.57	-146.1	358.7	-11.5	229	2532	0.00	1.88	0.00	0.000	4	0.000	0.067	1599	3900	3100	0	0	0	0	0	0
2628	-0.57	-146.1	371.8	-12.3	233	2633	0.00	1.80	0.00	0.000	6	0.000	0.038	1599	2773	3100	0	0	0	0	0	0
2951	-0.57	-146.1	411.2	-12.6	249	2955	0.00	1.85	0.00	0.000	4	0.000	0.067	1591	3897	3101	0	0	0	0	0	0
3067	-0.57	-146.1	428.0	-13.8	254	3072	0.00	1.80	0.00	0.000	6	0.000	0.038	1591	2770	3100	0	0	0	0	0	0
3395	-0.57	-146.1	472.0	-13.3	270	3399	0.00	1.85	0.00	0.000	4	0.000	0.067	1582	3896	3101	0	0	0	0	0	0
3501	-0.57	-146.1	487.4	-14.9	274	3508	0.12	1.80	0.00	0.000	6	0.193	0.040	1613	2769	3101	0	0	0	0	0	0
3816	-0.57	-146.1	523.3	-11.5	290	3820	0.00	1.85	0.00	0.000	4	0.000	0.067	1605	3896	3101	0	0	0	0	0	0
3892	-0.57	-146.1	533.2	-12.7	293	3897	0.00	1.83	0.00	0.000	6	0.000	0.038	1605	2749	3101	0	0	0	0	0	0
4214	-0.57	-146.1	573.2	-12.6	309	4218	0.00	1.88	0.00	0.000	4	0.000	0.067	1596	3895	3101	0	0	0	0	0	0
4336	-0.57	-146.1	590.3	-13.8	314	4341	0.00	1.80	0.00	0.000	6	0.000	0.038	1596	2765	3101	0	0	0	0	0	0
4658	-0.57	-146.1	634.8	-13.9	330	4662	0.00	1.85	0.00	0.000	4	0.000	0.066	1588	3894	3101	0	0	0	0	0	0
4752	-0.57	-146.1	649.6	-15.2	334	4756	0.00	1.77	0.00	0.000	6	0.000	0.038	1587	2773	3101	0	0	0	0	0	0
5079	-0.57	-146.1	698.9	-15.0	350	5083	0.10	1.85	0.00	0.000	4	0.208	0.067	1603	3903	3101	0	0	0	0	0	0
5172	-0.57	-146.1	712.6	-13.2	354	5177	0.00	1.80	0.00	0.000	6	0.000	0.038	1603	2771	3101	0	0	0	0	0	0
5500	-0.57	-146.1	757.1	-13.5	370	5504	0.00	1.90	0.00	0.000	4	0.000	0.068	1594	3900	3101	0	0	0	0	0	0
5599	-0.57	-146.1	771.7	-14.5	374	5604	0.00	1.80	0.00	0.000	6	0.000	0.038	1595	2763	3101	0	0	0	0	0	0
5921	-0.57	-146.1	816.4	-14.0	390	5925	0.00	1.85	0.00	0.000	4	0.000	0.067	1586	3894	3101	0	0	0	0	0	0
6004	-0.57	-146.1	829.6	-16.5	393	6013	0.08	1.77	0.00	0.000	6	0.178	0.038	1609	2770	3101	0	0	0	0	0	0
6320	-0.57	-146.1	870.1	-12.7	409	6324	0.00	1.88	0.00	0.000	4	0.000	0.067	1601	3897	3101	0	0	0	0	0	0
6397	-0.57	-146.1	880.7	-13.6	412	6401	0.00	1.80	0.00	0.000	6	0.000	0.038	1601	2767	3101	0	0	0	0	0	0
6718	-0.57	-146.1	923.4	-13.3	428	6722	0.00	1.85	0.00	0.000	4	0.000	0.067	1593	3897	3101	0	0	0	0	0	0
6818	-0.57	-146.1	937.5	-13.8	432	6822	0.00	1.80	0.00	0.000	6	0.000	0.039	1593	2764	3101	0	0	0	0	0	0
7139	-0.57	-146.1	981.8	-13.8	448	7143	0.00	1.83	0.00	0.000	4	0.000	0.067	1584	3895	3101	0	0	0	0	0	0
7216	-0.57	-146.1	993.6	-14.9	451	7221	0.08	1.77	0.00	0.000	6	0.174	0.038	1608	2769	3101	0	0	0	0	0	0
7268	end dive: TARGET_DEPTH_EXCEEDED
state	7269	begin apogee
7273	-0.16	0.0	1000.6	13.5	454	7412	0.45	0.00	134.20	1.796	6	0.159	0.000	1746	2640	2499	0	0	0	0	0	0
7413	end apogee: CONTROL_FINISHED_OK
state	7413	begin climb
7414	0.57	146.1	1006.2	0.0	461	7566	0.75	2.55	144.35	1.750	4	0.115	0.050	1986	1279	1903	0	0	0	0	0	0
7626	0.57	146.1	984.0	14.1	471	7632	0.00	2.53	0.00	0.000	6	0.000	0.055	1985	2659	1899	0	0	0	0	0	0
7954	0.57	146.1	927.8	17.6	487	7958	0.00	2.12	0.00	0.000	4	0.000	0.063	1985	3903	1894	0	0	0	0	0	0
8030	0.57	146.1	912.4	20.0	490	8035	0.00	2.05	0.00	0.000	6	0.000	0.041	1994	2695	1892	0	0	0	0	0	0
8352	0.57	146.1	852.3	19.0	506	8356	0.00	2.08	0.00	0.000	4	0.000	0.063	1994	3909	1891	0	0	0	0	0	0
8407	0.57	146.1	840.3	22.5	508	8411	0.00	2.08	0.00	0.000	6	0.000	0.042	2004	2659	1890	0	0	0	0	0	0
8729	0.57	146.1	776.1	20.0	524	8733	0.00	2.10	0.00	0.000	4	0.000	0.063	2004	3914	1890	0	0	0	0	0	0
8797	0.57	146.1	761.1	23.6	527	8801	0.00	2.03	0.00	0.000	6	0.000	0.042	2013	2665	1889	0	0	0	0	0	0
9128	0.57	146.1	694.4	20.0	543	9132	0.00	2.08	0.00	0.000	4	0.000	0.064	2014	3904	1889	0	0	0	0	0	0
9211	0.57	146.1	675.8	23.5	546	9219	0.12	2.03	0.00	0.000	6	0.221	0.041	1991	2666	1888	0	0	0	0	0	0
9528	0.57	146.1	618.5	18.0	562	9531	0.00	2.08	0.00	0.000	4	0.000	0.063	1991	3913	1888	0	0	0	0	0	0
9598	0.57	146.1	603.7	20.6	565	9604	0.00	2.03	0.00	0.000	6	0.000	0.041	2000	2666	1887	0	0	0	0	0	0
9927	0.57	146.1	543.6	18.5	581	9930	0.00	2.05	0.00	0.000	4	0.000	0.063	2000	3907	1887	0	0	0	0	0	0
9958	0.57	146.1	536.5	21.8	582	9964	0.00	2.00	0.00	0.000	6	0.000	0.041	2009	2673	1887	0	0	0	0	0	0
10281	0.57	146.1	473.5	20.1	598	10285	0.00	2.05	0.00	0.000	4	0.000	0.063	2009	3899	1887	0	0	0	0	0	0
10363	0.57	146.1	454.7	23.3	601	10372	0.10	2.00	0.00	0.000	6	0.223	0.041	1993	2660	1887	0	0	0	0	0	0
10681	0.57	146.1	394.3	19.0	617	10685	0.00	2.05	0.00	0.000	4	0.000	0.063	1993	3906	1887	0	0	0	0	0	0
10728	0.57	146.1	384.2	22.7	619	10732	0.00	1.98	0.00	0.000	6	0.000	0.042	2002	2662	1887	0	0	0	0	0	0
11063	0.57	146.1	317.4	20.0	635	11066	0.00	2.05	0.00	0.000	4	0.000	0.063	2002	3909	1887	0	0	0	0	0	0
11130	0.57	146.1	302.0	21.7	638	11134	0.00	1.98	0.00	0.000	6	0.000	0.042	2011	2665	1887	0	0	0	0	0	0
11454	0.57	146.1	235.6	20.8	656	11457	0.00	2.05	0.00	0.000	4	0.000	0.063	2011	3913	1887	0	0	0	0	0	0
11500	0.57	146.1	225.2	22.6	660	11504	0.15	1.98	0.00	0.000	6	0.232	0.042	1987	2666	1887	0	0	0	0	0	0
11826	0.57	146.1	165.8	17.1	690	11830	0.00	2.05	0.00	0.000	4	0.000	0.064	1987	3916	1887	0	0	0	0	0	0
11864	0.57	146.1	157.8	19.6	693	11872	0.00	2.00	0.00	0.000	6	0.000	0.041	1996	2661	1887	0	0	0	0	0	0
12189	0.57	146.1	103.6	15.6	724	12193	0.00	2.05	0.00	0.000	4	0.000	0.064	1996	3914	1887	0	0	0	0	0	0
12307	0.57	146.1	82.0	17.7	742	12314	0.00	2.00	0.00	0.000	6	0.000	0.041	2006	2648	1887	0	0	0	0	0	0
12553	0.57	146.1	47.3	13.6	783	12559	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	2647	1887	0	0	0	0	0	0
12664	0.57	146.1	33.1	12.5	802	12673	0.00	2.08	0.00	0.000	4	0.000	0.063	2006	3904	1887	0	0	0	0	0	0
12741	0.57	146.1	22.2	14.9	814	12749	0.00	1.98	0.00	0.000	6	0.000	0.042	2016	2669	1887	0	0	0	0	0	0
12825	0.57	146.1	10.4	12.6	827	12834	0.00	2.05	0.00	0.000	4	0.000	0.066	2015	3900	1887	0	0	0	0	0	0
12860	0.57	146.1	5.6	12.7	832	12870	0.12	1.98	0.00	0.000	6	0.213	0.042	1991	2666	1887	0	0	0	0	0	0
12877	end climb: SURFACE_DEPTH_REACHED
state	12877	begin surface coast
12897	end surface coast: CONTROL_FINISHED_OK
state	12897	begin surface